Merge branch 'master' into tasks

huskyroboticsteam · Jan 27, 2024 · 82a2e9e · 82a2e9e
2 parents e6d4877 + cb74553
commit 82a2e9e
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Showing 5 changed files with 13 additions and 12 deletions.
diff --git a/src/Constants.h b/src/Constants.h
@@ -58,8 +58,8 @@ const double MAX_DTHETA = kinematics::DiffDriveKinematics(EFF_WHEEL_BASE)
 
 // TODO: We need to recalibrate the camera, since we replaced it with a different one.
 // TODO: rename cameras (in MC as well) as appropriate
-constexpr const char* AR_CAMERA_CONFIG_PATH = "../camera-config/MastCameraCalibration.yml";
-const robot::types::CameraID AR_CAMERA_ID = "front"; // TODO: replace with real camera name
+constexpr const char* MAST_CAMERA_CONFIG_PATH = "../camera-config/MastCameraCalibration.yml";
+const robot::types::CameraID MAST_CAMERA_ID = "front"; // TODO: replace with real camera name
 
 constexpr const char* FOREARM_CAMERA_CONFIG_PATH =
 	"../camera-config/ForearmCameraCalibration.yml";

diff --git a/src/ar/read_landmarks.cpp b/src/ar/read_landmarks.cpp
@@ -34,8 +34,8 @@ void detectLandmarksLoop() {
 	cv::Mat frame;
 	uint32_t last_frame_no = 0;
 	while (true) {
-		if (robot::hasNewCameraFrame(Constants::AR_CAMERA_ID, last_frame_no)) {
-			auto camData = robot::readCamera(Constants::AR_CAMERA_ID);
+		if (robot::hasNewCameraFrame(Constants::MAST_CAMERA_ID, last_frame_no)) {
+			auto camData = robot::readCamera(Constants::MAST_CAMERA_ID);
 			if (!camData)
 				continue;
 			auto camFrame = camData.getData();
@@ -65,7 +65,8 @@ void detectLandmarksLoop() {
 					cv::Vec3d coords = ids_to_camera_coords[id];
 					// if we have extrinsic parameters, multiply coordinates by them to do
 					// appropriate transformation.
-					auto extrinsic = robot::getCameraExtrinsicParams(Constants::AR_CAMERA_ID);
+					auto extrinsic =
+						robot::getCameraExtrinsicParams(Constants::MAST_CAMERA_ID);
 					if (extrinsic) {
 						cv::Vec4d coords_homogeneous = {coords[0], coords[1], coords[2], 1};
 						cv::Mat transformed = extrinsic.value() * cv::Mat(coords_homogeneous);
@@ -99,7 +100,7 @@ void detectLandmarksLoop() {
 }
 
 bool initializeLandmarkDetection() {
-	auto intrinsic = robot::getCameraIntrinsicParams(Constants::AR_CAMERA_ID);
+	auto intrinsic = robot::getCameraIntrinsicParams(Constants::MAST_CAMERA_ID);
 	if (intrinsic) {
 		ar_detector = Detector(Markers::URC_MARKERS(), intrinsic.value());
 		landmark_thread = std::thread(&detectLandmarksLoop);
@@ -108,7 +109,7 @@ bool initializeLandmarkDetection() {
 					 "cannot be performed.");
 		return false;
 	}
-	if (!robot::getCameraExtrinsicParams(Constants::AR_CAMERA_ID)) {
+	if (!robot::getCameraExtrinsicParams(Constants::MAST_CAMERA_ID)) {
 		LOG_F(WARNING, "Camera does not have extrinsic parameters! Coordinates returned "
 					   "for AR tags will be relative to camera");
 	}

diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
@@ -128,7 +128,7 @@ void openCamera(CameraID camID, const char* cameraPath) {
 }
 
 void setupCameras() {
-	openCamera(Constants::AR_CAMERA_ID, Constants::AR_CAMERA_CONFIG_PATH);
+	openCamera(Constants::MAST_CAMERA_ID, Constants::MAST_CAMERA_CONFIG_PATH);
 	openCamera(Constants::HAND_CAMERA_ID, Constants::HAND_CAMERA_CONFIG_PATH);
 }
 } // namespace

diff --git a/src/world_interface/simulator_interface.cpp b/src/world_interface/simulator_interface.cpp
@@ -104,9 +104,9 @@ static void openCamera(CameraID cam, std::optional<std::vector<double>> list1d =
 }
 
 void initCameras() {
-	auto cfg = cam::readConfigFromFile(Constants::AR_CAMERA_CONFIG_PATH);
-	cameraConfigMap[Constants::AR_CAMERA_ID] = cfg;
-	// openCamera(Constants::AR_CAMERA_ID);
+	auto cfg = cam::readConfigFromFile(Constants::MAST_CAMERA_CONFIG_PATH);
+	cameraConfigMap[Constants::MAST_CAMERA_ID] = cfg;
+	// openCamera(Constants::MAST_CAMERA_ID);
 	openCamera("front", cfg.intrinsicParams->getIntrinsicList());
 	openCamera("rear", cfg.intrinsicParams->getIntrinsicList());
 	openCamera("upperArm", cfg.intrinsicParams->getIntrinsicList());

diff --git a/tests/camera/CameraParamsTests.cpp b/tests/camera/CameraParamsTests.cpp
@@ -79,7 +79,7 @@ TEST_CASE("Serialization works", "[camera][camera_params]") {
 TEST_CASE("List Conversation Works"){
 	std::unordered_map<robot::types::CameraID, cam::CameraConfig> cameraConfigMap;
 	auto cfg = cam::readConfigFromFile("../camera-config/global.yml");
-	cameraConfigMap[Constants::AR_CAMERA_ID] = cfg;
+	cameraConfigMap[Constants::MAST_CAMERA_ID] = cfg;
 	std::vector<double> x1 = cfg.intrinsicParams->getIntrinsicList();
 	std::vector<double> x1test {8.2342295124138286e+02, 0., 3.0932599345522056e+02, 0.,
           8.2343518498999936e+02, 2.5535163960018482e+02, 0., 0., 1.};